Master Thesis

Representation and Computation of the Singularities of Quartically-Solvable Robots using Tensor Diagrams

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Supervisor/s

Information

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Description

In mathematics and physics, tensor diagram notation is a visual depiction of multilinear functions or tensors proposed by Roger Penrose in 1971. This notation has revealed of interest to represent and solve geometric problems. The goal of the thesis is to use tensor diagrams to represent and compute the singularities of quartically-solvable robots, including its nodes and cusps, and higher order singularities such as lips, beaks, and swallowtails.

The work is under the scope of the following projects:

  • ColRobTransp: Colaboración robots-humanos para el transporte de productos en zonas urbanas (web)